#ifndef TOPICPROCESSCLIENT_H
#define TOPICPROCESSCLIENT_H

#include <SocketClient.h>
#include <array>
#include "kalman_filter.h"
using namespace std;
namespace topic {

    using  Array6d = std::array<double, 6> ;

    //Get topic client proporty.
    ClientPropertyType *topicClientPropertyGet();

    //bool CycleDataSend();
    //bool setServeOn();
    void robotStop();
    void robotemStop();


    //
    //Get data.
    //
    Array6d get_target_pos();
    
    Array6d get_current_pos();

    Array6d get_current_vel();

    Array6d get_current_acc();

//    extern float pos_alter_filter;
//    extern float vel_after_filter;
//    extern float cur_after_filter;
}




#endif // TOPICPROCESSCLIENT_H




